Pipe Mapping System and Pipe Mapping Method Using AI Learning

Abstract

The pipe mapping system according to the present invention comprises a driving device (100) that travels on the surface or concrete where a pipe is buried, a pipe detection module (200) disposed on the driving device (100) to detect a pipe buried in the surface or concrete, a dielectric constant calculation unit (350) that determines the dielectric constant of a medium to be transmitted, a position recording unit (300) that overlaps the position of the driving device (100) with the position of the pipe detected by the pipe detection module (200), a data processing unit (400) that processes data detected by the pipe detection module (200), and a power supply unit (500) that provides power to the driving device (100) and the pipe detection module (200). Since it detects a PVC pipe buried in concrete by receiving a reflected signal after transmitting a GPR signal and reconstructs the shape and direction of the detected PVC pipe, it has the advantage of being able to verify and map the path of the pipe in a non-destructive manner.

Description

Technology Field

[0001] The present invention relates to a pipe mapping system, and more specifically, to a mapping system for PVC pipes through AI learning. Background Technology

[0003] In-Line Inspection (ILI) technology for managing the integrity of buried pipelines is intended to perform precise / long-distance detection and evaluation of damaged areas in the pipelines, and is mainly carried out using a pipeline inspection system called an intelligent pig.

[0004] The intelligent pig is equipment designed to acquire information regarding the condition of piping by measuring the location and severity of problems occurring in the pipeline. It travels through the pipeline while in close contact with the interior, utilizing the pressure difference between the upstream and downstream ends to acquire and store data from key sensor systems.

[0005] Currently, location-based digital mapping technology for buried pipelines can be estimated using pure navigation algorithms based on the Intelligent Pig's Inertial Navigation System (INS). Pure navigation calculates the position, velocity, and attitude of the body using a Kalman filter and provides correction values ​​using an odometer as an external measurement.

[0006] In addition, as the use of GPS is restricted in buried pipelines, the passage time of the intelligent pig is measured based on AGMs (Above Ground Markers), which are measurement points surveyed by high-precision GPS directly above the pipeline at regular intervals, and mapping accuracy is improved by using these positions as correction values ​​in the navigation algorithm.

[0007] However, existing pure navigation algorithms based on inertial navigation systems and odometers estimate the velocity and position of an intelligent pig through accelerometer integration; consequently, they had a disadvantage in that the position error between AGM segments provided by GPS measurements became increasingly larger due to integration errors, such as noise from the inertial navigation system and noise related to the system integration time.

[0008] In addition, existing pipe mapping systems based on inertial navigation systems and odometers had a problem in that they could not map pipes buried inside buildings. Prior art literature

[0010] Republic of Korea Registered Patent No. 10-2545671 The problem to be solved

[0011] The present invention was devised to solve the aforementioned conventional problems and aims to provide a pipe mapping system capable of mapping pipes buried inside a building where GPS signals cannot reach, and a pipe mapping method through AI learning. means of solving the problem

[0013] The present invention provides a pipe mapping system comprising: a driving device (100) that travels on the surface or concrete where a pipe is buried; a pipe detection module (200) disposed on the driving device (100) and detecting a pipe buried in the surface or concrete; a dielectric constant calculation unit (350) that determines the dielectric constant of a medium to be permeated; a location recording unit (300) that overlaps the location of the driving device (100) with the location of the pipe detected by the pipe detection module (200); a data processing unit (400) that processes data detected by the pipe detection module (200); and a power supply unit (500) that provides power to the driving device (100) and the pipe detection module (200).

[0014] The driving device (100) may include a driving case (120), a driving motor (110) disposed in the driving case (120), and a driving wheel (130) driven by the driving motor (110).

[0015] The pipe detection module (200) may include a transmitting antenna (210) that transmits radio waves, a receiving antenna (220) that receives a reflected signal of the transmitted radio waves, a signal processor (230) that processes background removal, time domain noise filtering, high-frequency attenuation correction, or reflected signal amplification from the reflected signal, and a radio wave speed correction unit (240) that calculates the radio wave speed in a medium on which the radio waves are projected.

[0016] The position recording unit (300) may include an inertial measuring unit (310) that measures the tilt, rotation, and dynamic state of the driving device (100) in real time, a distance measuring unit (320) that measures the distance traveled by the driving device (100), a coordinate calculation unit (330) that calculates the position coordinates of the driving device, the direction of travel of the driving device, and the rotation value or tilt value at a moment based on the data of the inertial measuring unit (310) and the distance measuring unit (320), and a signal alignment unit (340) that overlaps the location of the reflection signal detected by the pipe detection module (200) with the actual coordinates of the driving device (100).

[0017] The data processing unit (400) may include a signal preprocessing unit (410) that performs preprocessing to analyze a reflected signal input from a pipe detection module (200), a reflection characteristic analysis unit (420) that analyzes the arrival time of the reflected signal, determines the presence or absence of a pipe through analysis of reflection amplitude and reflection width, and removes residual interference corrected by an interference correction unit (250), and a depth calculation unit (430) that calculates the depth (d) of the pipe (P) based on the arrival time (t) of the reflected signal detected by the reflection characteristic analysis unit (420) and the propagation speed v calculated by the permittivity calculation unit (350).

[0018] The data processing unit (400) may further include a pipe shape reconstruction unit (440) that reconstructs the two-dimensional or three-dimensional shape of the pipe (P) using reflection signals continuously acquired according to the movement of the pipe detection module (200).

[0019] The data processing unit (400) may further include a pipe data integration unit (450) that generates final pipe mapping information by integrating the reflection characteristic analysis result, the depth calculation result, the pipe shape reconstruction result, and the absolute coordinate information of the location recording unit (300).

[0020] The present invention provides a control method for a pipe mapping system comprising: a driving step (S100) of a driving device; a pipe detection module control step (S200) that detects the location of a pipe by a non-destructive method by emitting and receiving a GPR signal through a pipe detection module (200) after the step S100; a location recording unit control step (S300) that overlaps the location of the driving device and the location of the pipe detected by the pipe detection module (200) through a location recording unit (300) after the step S200; and a data processing unit control step (S400) that processes a reflected signal input from the pipe detection module (200) through a data processing unit (400) after the step S300 to determine the location and depth of the pipe (P) and reconstruct the shape of the determined pipe (P).

[0021] The control step (S200) of the pipe detection module (200) comprises: a step S210 in which the control unit of the pipe detection module (200) receives information on the medium to be explored and a target depth range, and sets GPR operation parameters such as a transmission frequency band, a pulse repetition period, a sampling period, and a reception time window; a step S220 in which the control unit generates a transmission trigger signal according to the set repetition period, and the transmission trigger signal is simultaneously transmitted to the transmission antenna (210) and the signal processor (230) to match the reference time of the transmission time and the reception time; and the transmission antenna (210) transmits an electromagnetic wave having a set frequency and pulse width according to the trigger signal into the concrete.Step S230, in which the transmission output is controlled according to a preset standard based on concrete attenuation characteristics; Step S240, in which the receiving antenna (220) receives a reflected signal during a set reception time window from a reference time synchronized with the transmission trigger; Step S250, in which the analog reflected signal received from the receiving antenna (220) is input to a signal processor (230), and the signal processor (230) amplifies the signal and converts it from analog to digital to store it as digital reflected data; Step S260, in which the signal processor (230) performs primary filtering on the digital reflected data, removes repetitive background components such as surface reflection or equipment-specific reflection, and suppresses low-frequency and high-frequency noise to leave only the effective frequency band; Step S270, in which the attenuation correction unit (245) corrects the amplitude of the reflected signal that decreases as the depth increases according to the concrete medium characteristics; and Step S270, in which the propagation velocity correction unit (240) uses concrete relative permittivity information provided by the permittivity calculation unit (350) to correct the time axis of the reflected data to actual The method may include a step S280 of correcting according to the propagation speed, a step S290 in which the interference correction unit (250) identifies a reflection source other than the PVC pipe (P), such as a rebar or a corner of a structure, from the corrected reflection data and classifies interference candidate signals based on reflection width, amplitude, periodicity, etc., and a step S291 in which the interference correction unit (250) applies a correction filter to remove or attenuate the interference candidate signals classified in step S290 to generate a pipe candidate waveform in which the reflection component of the PVC pipe (P) is emphasized.

[0022] The location record control step (S300) includes S310, S320, S330, S340, S350, S360, and S370.

[0023] In step S310, the inertial measuring device (310) measures the tilt and rotation status of the driving device (100) in real time.

[0024] An inertial measurement device (310) including an acceleration sensor unit, a gyroscope sensor unit, and an optional geomagnetic sensor unit continuously detects changes in tilt, rotation angle, and attitude of the driving device (100) to generate basic attitude information necessary for subsequent coordinate calculations.

[0025] In step S320, the travel distance measuring unit (320) measures the travel distance and travel speed using a wheel encoder linked to the drive wheel of the driving device (100).

[0026] The travel distance measuring unit (320) corrects the travel error caused by road surface inclination or slipping by taking into account the device attitude data detected by the inertial measuring device (310).

[0027] In step S330, the coordinate calculation unit (330) combines the data from the inertial measuring device (310) and the travel distance measuring unit (320) to calculate the accumulated position coordinates of the driving device (100).

[0028] The coordinate calculation unit (330) generates position coordinates based on an absolute coordinate system in actual space by reflecting the instantaneous movement direction, tilt, rotation angle, and amount of movement.

[0029] In step S340, the location coordinates generated by the coordinate calculation unit (330) and the detection time of the reflected signal detected by the pipe detection module (200) are synchronized.

[0030] The detection time of the reflected signal is managed by an internal timestamp of the signal processor (230), and the position coordinates of the coordinate calculation unit (330) are aligned with the same timestamp.

[0031] In step S350, the signal alignment unit (340) converts the relative coordinates where the detection signal of the pipe detection module (200) is located into absolute coordinates. The actual measurement point where the reflected signal occurred is calculated by applying the installation location of the pipe detection module (200) and the device center reference offset.

[0032] In step S360, the signal alignment unit (340) accumulates the absolute coordinates converted in step S350 to generate continuous position data of the pipe (P). The continuous position data serves as basic data that can be used to analyze the path, bends, and depth changes of the pipe (P).

[0033] In step S370, the control unit evaluates the quality of the output coordinate data of the position recording unit (300) and adjusts the parameters of the inertial measuring device (310), the distance measuring unit (320), and the coordinate calculation unit (330) as needed.

[0034] This is intended to minimize positional errors that may occur due to changes in the inclination of the driving device (100), changes in road surface conditions, and fluctuations in movement speed.

[0035] After step S370, the process returns to step S310 and is repeated, continuously performing position alignment of all detection signals generated according to the movement of the driving device (100). The absolute coordinates generated during this process are transmitted to the data processing unit (400) and utilized in the depth, shape, and final mapping process of the pipe (P).

[0036] The data processing unit control step (S400) includes steps S410, S420, S430, S440, S450, S460, S470, and S480.

[0037] In step S410, the data processing unit (400) collects the pipe candidate reflection waveform transmitted from the pipe detection module (200) and the absolute coordinate data provided by the location recording unit (300). In this step, the time information included in each data is aligned, and the data is synchronized around the same reference time. This synchronization process serves as the basis for accurately matching the spatial location at the moment the reflection signal occurs.

[0038] In step S420, the signal preprocessing unit (410) analyzes the reflected signal data collected in step S410 to remove residual noise, background components, and residual interference. The signal preprocessing unit (410) performs high-frequency and low-frequency filtering, reflection amplitude normalization, etc., to generate a preprocessed signal that clearly highlights the reflection components originating from the PVC pipe (P). This step serves to refine the signal so that the reflection characteristic analysis unit (420) can perform a more accurate analysis.

[0039] In step S430, the reflection characteristic analysis unit (420) analyzes the preprocessed signal to extract the reflection pattern of the PVC pipe (P). The reflection characteristic analysis unit (420) determines whether a shallow V-shaped pattern appears in the PVC pipe (P) based on the arrival time t of the reflected wave, the reflection amplitude, the reflection amplitude, and the shape of the reflected signal. Additionally, it separates additional reflection sources that are not the PVC pipe (P), such as repetitive reflections occurring from reinforcing bars or reflections from the corners of structures, so that only the characteristics corresponding to the actual pipe (P) remain.

[0040] In step S440, the depth calculation unit (430) calculates the depth d of the PVC pipe (P) using the reflection arrival time t detected by the reflection characteristic analysis unit (420) and the propagation speed v provided by the permittivity calculation unit (350). The depth calculation is performed based on the relationship d = t × v / 2, and the propagation speed v is calculated by the relationship v = c / √εr according to the relative permittivity εr of the medium. The calculated depth value represents the actual installation depth of the pipe and serves as the basis for subsequent 3D position determination.

[0041] In step S450, the pipe shape reconstruction unit (440) reconstructs the shape of the PVC pipe (P) by combining the absolute coordinate data provided by the location recording unit (300) with the depth value calculated in step S440. In this step, the pipe shape reconstruction unit (440) generates a centerline of the pipe (P) by connecting consecutive detection locations, determines bends, direction changes, and branches based on the centerline, and estimates the pipe diameter using the reflection width. The reconstructed shape information is generated in the form of spatially continuous data.

[0042] In step S460, the pipe data integration unit (450) integrates depth data, absolute coordinate data, and shape reconstruction data to generate the final path of the PVC pipe (P). During the integration process, coordinate interpolation, noise removal, and data combination of multiple exploration paths are performed to produce a more precise pipe path. The finally generated pipe path becomes high-precision pipe mapping information in which multiple data elements are combined.

[0043] In step S470, the data processing unit (400) stores the shape and location information of the completed pipe (P) or transmits it to an external device. The generated pipe information can be linked with a structure maintenance system, a construction planning system, or a separate monitoring device.

[0044] In step S480, the control unit of the data processing unit (400) evaluates the quality of the input data and updates the filter setting value of the signal preprocessing unit (410), the interference removal criterion value of the interference correction unit (250), and the shape judgment criterion of the pipe shape reconstruction unit (440) according to the situation. Steps S410 through S470 are performed repeatedly according to the movement of the driving device (100), and mapping data of the pipe (P) for the entire investigation section is continuously generated.

[0045] The present invention comprises a driving device (100) that travels on the surface or concrete where a pipe is buried, a pipe detection module (200) disposed on the driving device (100) and detecting a pipe buried in the surface or concrete, a dielectric constant calculation unit (350) that determines the dielectric constant of a medium to be transmitted, a position recording unit (300) that overlaps the position of the driving device (100) with the position of the pipe detected by the pipe detection module (200), a data processing unit (400) that processes data detected by the pipe detection module (200), a power supply unit (500) that provides power to the driving device (100) and the pipe detection module (200), an AI learning unit (600) for performing an artificial intelligence learning function based on reflection signal data, coordinate data, depth data, and pipe shape data acquired from the pipe detection module (200), the position recording unit (300), and the data processing unit (400), and using a learned model to determine the existence of a pipe (P), An AI-based pipe mapping system is provided that includes an AI judgment unit (700) for determining location, shape, and environmental influence. Effects of the invention

[0047] The present invention has the advantage of being able to verify and map the path of a pipe in a non-destructive manner because it detects PVC pipes embedded in concrete by transmitting a GPR signal and receiving the reflected signal, and reconstructs the shape and direction of the detected PVC pipe.

[0048] The present invention has the advantage of improving the detection accuracy of PVC pipes through a dielectric constant calculation unit that determines the dielectric constant of the medium to be transmitted.

[0049] The present invention has the advantage of being able to overlap the position of the driving device and the position of the pipe detected by the pipe detection module, convert them into absolute coordinates, and store them.

[0050] Since the present invention includes an inertial measuring device, a distance measuring unit, a coordinate calculation unit, and a signal alignment unit that overlaps the location of a reflected signal detected by a pipe detection module with the actual coordinates of a driving device, it has the advantage of being able to accurately determine the buried location of a pipe even inside a building where GPS signals are not detected.

[0051] The present invention includes a pipe shape reconstruction unit that reconstructs the two-dimensional or three-dimensional shape of a pipe (P) using reflection signals continuously acquired as the pipe detection module moves, so that if a drawing of a building is available, the burial direction, shape, and location of the pipe can be specified by overlapping it on the drawing.

[0052] The present invention has the advantage of being able to store scan results as drawings because it includes a pipe data integration unit that generates final pipe mapping information by integrating reflection characteristic analysis results, depth calculation results, pipe shape reconstruction results, and absolute coordinate information of a location record unit.

[0053] The present invention has the advantage of being able to track the path when a leak occurs.

[0054] The present invention has the advantage of being able to more accurately determine the buried location and direction of pipes because it scans the internal shape of a building using LiDAR and overlays the mapping map of pipes detected by a pipe detection module to convert them into absolute coordinates.

[0055] Since the present invention further includes an AI learning unit and an AI judgment unit, data acquired from the system can be structured according to label criteria required for AI learning and converted into a learning dataset for use in AI learning, thereby having the advantage of improving precision. Brief explanation of the drawing

[0057] FIG. 1 is a block diagram of a piping mapping system according to a first embodiment of the present invention. FIG. 2 is a flowchart illustrating a control method of a pipe mapping system according to a first embodiment of the present invention. Figure 3 is a flowchart illustrating the control steps of the pipe detection module shown in Figure 2. Figure 4 is a flowchart illustrating the position recording unit control step shown in Figure 2. Figure 5 is a flowchart illustrating the data processing unit control step shown in Figure 2. FIG. 6 is a configuration diagram for an AI-based pipe mapping system according to a first embodiment of the present invention. FIG. 7 is a perspective view of a driving device according to a first embodiment of the present invention. Figure 8 is a plan view of Figure 7. Fig. 9 is a bottom view of Fig. 8. Specific details for implementing the invention

[0058] The present invention is susceptible to various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. Similar reference numerals have been used for similar components in the description of each drawing.

[0059] Terms such as first, second, A, B, etc., may be used to describe various components, but said components shall not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0060] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0061] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0062] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0063] In this document, "configured to" may be used interchangeably with, depending on the context, for example, in hardware or software, "suitable for," "capable of," "modified to," "made to," "capable of," or "designed to." In some situations, the expression "device configured to" may mean that the device is "capable of" doing something together with other devices or components.

[0064] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings. In order to facilitate an overall understanding of the present invention, the same reference numerals are used for identical components in the drawings, and redundant descriptions of identical components are omitted.

[0065] FIG. 1 is a block diagram of a pipe mapping system according to a first embodiment of the present invention, FIG. 2 is a flowchart illustrating a control method of a pipe mapping system according to a first embodiment of the present invention, FIG. 3 is a flowchart illustrating a control step of a pipe detection module illustrated in FIG. 2, FIG. 4 is a flowchart illustrating a control step of a location recording unit illustrated in FIG. 2, FIG. 5 is a flowchart illustrating a control step of a data processing unit illustrated in FIG. 2, FIG. 6 is a configuration diagram for an AI-based pipe mapping system according to a first embodiment of the present invention, FIG. 7 is a perspective view of a driving device according to a first embodiment of the present invention, FIG. 8 is a plan view of FIG. 7, and FIG. 9 is a bottom view of FIG. 8.

[0066] A pipe mapping system according to the present embodiment comprises a driving device (100) that travels on the surface or concrete where a pipe is buried, a pipe detection module (200) disposed on the driving device (100) and detecting a pipe buried in the surface or concrete, a dielectric constant calculation unit (350) that determines the dielectric constant of a medium to be permeated, a location recording unit (300) that overlaps the location of the driving device (100) with the location of the pipe detected by the pipe detection module (200), a data processing unit (400) that processes data detected by the pipe detection module (200), and a power supply unit (500) that provides power to the driving device (100) and the pipe detection module (200).

[0067] The driving device (100) comprises a driving case (120), a driving motor (110) disposed in the driving case (120), and a driving wheel (130) driven by the driving motor (110).

[0068] The above pipe detection module (200) generates and acquires Ground Penetrating Radar (hereinafter GPR) signals and analyzes the characteristics of electromagnetic waves reflected from PVC pipes.

[0069] The pipe detection module (200) performs a reflection signal analysis function tailored to the characteristics of the PVC pipe (P) inside the concrete.

[0070] The pipe detection module (200) includes a transmitting antenna (210) and a receiving antenna (220), a signal processor (230) for processing GPR signals, a propagation speed correction unit (240) for GPR signals, a concrete attenuation correction unit (245), and an interference correction unit (250) for GPR signals.

[0071] The above-mentioned transmitting antenna (210) transmits electromagnetic waves using a frequency suitable for the concrete medium (e.g., 900 MHz to 1600 MHz).

[0072] The higher the frequency, the more sensitively the minute dielectric constant difference between PVC pipes and concrete can be detected.

[0073] The receiving antenna (220) detects a signal reflected from the medium inside the concrete. Since PVC is not a metal, it has a low reflection intensity and a shallow V-shaped reflection pattern.

[0074] The above signal processor (230) performs background removal, time domain noise filtering, high-frequency attenuation correction, and reflected signal amplification.

[0075] The above propagation speed correction unit (240) calculates the propagation speed of electromagnetic waves in a concrete medium. The relative permittivity of concrete is in the range of 4 to 10 and varies depending on the moisture content and strength.

[0076] Since concrete has a high electromagnetic wave attenuation, attenuation correction is absolutely necessary. The above concrete attenuation correction unit (245) corrects the attenuation coefficient to clarify the reflection pattern of the PVC pipe (P).

[0077] When reinforcing bars are placed inside concrete, interference occurs, and the interference correction unit (250) analyzes the reinforcing bar reflection pattern and separates it from the reflection of the PVC pipe (P).

[0078] The above dielectric constant calculation unit (350) calculates the dielectric constant εr of concrete to improve the accuracy of depth calculation.

[0079] The concrete permittivity calculation unit (350) is configured to calculate the speed at which electromagnetic waves propagate within the concrete medium.

[0080] The electromagnetic waves radiated from the transmitting antenna (210) travel inside the concrete and are reflected from the outer surface of the PVC pipe (P) due to the difference in dielectric constant.

[0081] The receiving antenna (220) measures the time (t) when the reflected electromagnetic wave returns.

[0082] The concrete dielectric constant calculation unit (350) calculates the depth (d) of the PVC pipe (P) using the following relationship.

[0083] d = (t × v) / 2

[0084] Here, d: depth of PVC piping (P)

[0085] t: Time taken for the electromagnetic wave to travel back and forth to the PVC pipe (P)

[0086] v: Propagation speed of electromagnetic waves in a concrete medium

[0087] The propagation speed v of electromagnetic waves is calculated by the following relationship.

[0088] v = c / √εr

[0089] c: Speed ​​of light in free space

[0090] εr: Relative permittivity of concrete (calculated by the concrete permittivity calculation unit (350))

[0091] Accordingly, the concrete permittivity calculation unit (350) calculates the relative permittivity εr of the concrete, determines the propagation speed v using this, and calculates the depth d of the PVC pipe using the propagation speed v and the round-trip time t. Through this process, the actual depth of the PVC pipe (P) buried inside the concrete structure can be calculated precisely.

[0092] The location recorder (300) performs the function of calculating the absolute coordinates of the pipe by aligning the actual movement trajectory of the driving device (100) and the detection signal location of the pipe (P) detected by the pipe detection module (200) based on coordinates.

[0093] The position recording unit (300) includes an inertial measuring device (310, IMU), a distance measuring unit (320), a coordinate calculation unit (330), and a signal alignment unit (340).

[0094] The IMU (310) is configured to detect the acceleration and angular velocity of the device in real time.

[0095] Since there may be variations in the slope of the concrete surface, the IMU (310) generates correction data to ensure that the device maintains a constant reference plane. This is to match the position of the reflection pattern detected by the pipe detection module (200) with the actual ground coordinates.

[0096] The inertial measuring device (310) is configured to measure the tilt, rotation, and dynamic state of the driving device (100) on which the pipe detection module (200) is installed in real time and provide it to the position recording unit (300).

[0097] The inertial measuring device (310) continuously tracks the posture and motion state of the driving device (100) to provide reference information for precisely projecting the position of the pipe (P) detected by the pipe detection module (200) onto a coordinate system on an actual concrete surface.

[0098] The inertial measuring device (310) basically includes the following sensor parts.

[0099] The inertial measurement device (310) includes an acceleration sensor unit (311), a gyroscope sensor unit (312), and a geomagnetic sensor unit (313).

[0100] The acceleration sensor unit (311) measures linear acceleration acting on the driving device (100) and includes a triaxial acceleration sensor. The output values ​​are a gravitational acceleration component, an acceleration or deceleration component due to forward and backward movement, an acceleration component due to left-right shaking, and an acceleration component due to up-and-down unevenness. The acceleration sensor unit (311) enables stable determination of the device's tilt by including initial offset correction and temperature correction.

[0101] The gyro sensor unit (312) measures the angular velocity of the driving device (100) and includes a three-axis gyro sensor.

[0102] It provides information on left-right rotation, forward-backward tilt change, and twisting direction rotation of the driving device (100). The angular velocity signal is converted into an accumulated rotation angle through time integration and is used to maintain or correct the direction and attitude of the device.

[0103] The geomagnetic sensor unit (313) measures the absolute direction based on the Earth's magnetic field.

[0104] Although accuracy may be reduced due to interference from rebar or electrical equipment, it is useful for correcting long-term rotation angle errors of the gyro sensor unit. By combining the signal of the geomagnetic sensor unit (313) and the relative rotation information of the gyro sensor unit (312), the stability of the direction estimation of the driving device (100) is increased.

[0105] The above-mentioned inertial measurement device (310) further includes a signal processing unit (314) that collects and filters raw data output from these sensor units and synthesizes them to produce attitude and acceleration information.

[0106] The signal processing unit (314) collects raw data output from each sensor of the inertial measurement device (310) at regular intervals and performs the following.

[0107] (1) Offset correction

[0108] (2) Filtering for sound removal

[0109] (3) Data fusion combining acceleration and angular velocity data

[0110] (4) Calculation of tilt and rotation state

[0111] (5) Convert to a format that can be transmitted to the location record book (300)

[0112] Through a sensor fusion algorithm, the long-term stability of the acceleration sensor unit (311) and the short-term accuracy of the gyroscope sensor unit (312) are combined to stably produce attitude and direction information.

[0113] The travel distance measuring unit (320) includes a wheel encoder mounted on the drive wheel (130) of the driving device (100) and measures the travel distance and travel speed in high resolution.

[0114] The travel distance measuring unit (320) is combined with data from the inertial measuring device (310) to generate the actual travel trajectory of the driving device (100) in the form of accumulated coordinates.

[0115] The coordinate calculation unit (330) calculates the position coordinates of the driving device, the direction of travel of the driving device, the rotation value and the tilt value at the moment based on the data of the inertial measuring device (310) and the travel distance measuring unit (320).

[0116] The above coordinates are synchronized with the time t when the pipe detection module (200) detects the reflected signal.

[0117] The signal alignment unit (340) overlaps the location of the reflected signal detected by the pipe detection module (200) with the actual coordinates of the driving device (100) and performs the following procedure.

[0118] The time of detection of the reflection pattern of the pipe detection module (200) is stored, the device coordinates at the time (output value of the coordinate calculation unit (330)) are matched, the relative position of the detection signal (based on the center of the pipe detection module (200)) is converted into absolute coordinates, and consecutive detection points are connected to form a two-dimensional or three-dimensional path of the pipe (P).

[0119] The signal alignment unit (340) is a core device that performs conversion of the relative coordinates of the detection signal into absolute coordinates.

[0120] The data processing unit (400) receives raw reflection signal data acquired from the pipe detection module (200) and is configured to perform signal analysis and image processing functions to calculate information regarding the existence, depth, shape, path, and material of the pipe.

[0121] The data processing unit (400) is responsible for interpreting the pipe signal itself, separately from the location coordinate information provided by the location recording unit (300).

[0122] The data processing unit (400) includes a signal preprocessing unit (410), a reflection characteristic analysis unit (420), a depth calculation unit (430), and a pipe shape reconstruction unit (440).

[0123] The signal preprocessing unit (410) performs preprocessing to analyze the GPR reflection signal input from the pipe detection module (200).

[0124] The signal preprocessing unit (410) includes the following functions.

[0125] The signal preprocessing unit (410) removes unnecessary background signals, filters noise in the time domain and frequency domain, and corrects high-frequency attenuation caused by the concrete medium.

[0126] The processing of the signal preprocessing unit (410) is intended to extract the reflection pattern corresponding to the pipe (P) as clearly as possible.

[0127] The reflection characteristic analysis unit (420) is configured to precisely analyze the reflection pattern of the pipe (P) from the preprocessed signal.

[0128] The reflection characteristic analysis unit (420) performs the following.

[0129] A shallow V-shaped reflection pattern characteristic of PVC pipe (P) is detected, the arrival time t of the reflection signal is analyzed, the presence or absence of the pipe is determined through the analysis of reflection amplitude and reflection width, and the residual interference corrected by the interference correction unit (250) is removed.

[0130] The result derived from the reflection characteristic analysis unit (420) serves as a primary criterion for determining whether or not there is a pipe.

[0131] The depth calculation unit (430) is configured to calculate the depth d of the PVC pipe (P) based on the arrival time t of the reflected signal detected by the reflection characteristic analysis unit (420) and the propagation speed v calculated by the permittivity calculation unit (350).

[0132] The depth calculation unit (430) calculates the depth using the following formula.

[0133] d = (t × v) / 2

[0134] v = c / √εr

[0135] The depth calculation unit (430) quantitatively calculates the actual depth of the pipe and generates a depth value to be transmitted to the location recording unit (300).

[0136] The pipe shape reconstruction unit (440) is configured to reconstruct the two-dimensional or three-dimensional shape of the PVC pipe (P) inside the concrete using reflection signals continuously acquired as the pipe detection module (200) moves.

[0137] The pipe shape reconstruction unit (440) includes the following functions.

[0138] (1) Continuous reflection point clustering

[0139] (2) Extraction of PVC pipe centerline

[0140] (3) Determination of bends, branches, and intersections

[0141] (4) Pipe diameter estimation (reflection width based)

[0142] In this process, shape reconstruction data is output in a form that can form a final pipe map by combining with the absolute position coordinate values ​​provided by the coordinate calculation unit (330) of the location recording unit (300).

[0143] The pipe data integration unit (450) is configured to generate final pipe mapping information by integrating the reflection characteristic analysis result, depth calculation result, pipe shape reconstruction result, and absolute coordinate information of the location record unit (300).

[0144] The pipe data integration unit (450) performs the following.

[0145] (1) Interpolation of pipe location coordinates

[0146] (2) Curving pipe paths based on cumulative coordinates

[0147] (3) Separation and identification of multiple pipe (P) signals

[0148] (4) Classification of pipe crossings and layers (1st floor, 2nd floor, etc.)

[0149] The data synthesized in the pipe data integration unit (450) can be subsequently transmitted to an output unit or storage unit and can be linked with an architectural drawing or structure management system.

[0150] A control method for a pipe mapping system according to the present embodiment comprises: a driving step (S100) of a driving device; a pipe detection module control step (S200) after step S100, in which a GPR signal is emitted and received through a pipe detection module (200) to detect the location of a pipe in a non-destructive manner; a location recording unit control step (S300) after step S200, in which the location of the driving device and the location of the pipe detected by the pipe detection module (200) are overlapped through a location recording unit (300); and a data processing unit control step (S400) after step S300, in which a GPR reflection signal input from the pipe detection module (200) is processed through a data processing unit (400) to determine the location and depth of the pipe (P) and to reconstruct the shape of the determined pipe (P).

[0151] The control step (S200) of the pipe detection module (200) consists of a series of control steps for transmitting and receiving ground-penetrating radar signals for a PVC pipe (P) buried in concrete or the ground surface, and correcting the reflected signal to be suitable for pipe detection.

[0152] In step S210, the control unit of the pipe detection module (200) receives information on the medium to be explored and the target depth range, and sets GPR operation parameters such as the transmission frequency band, pulse repetition period, sampling period, and reception time window.

[0153] In step S220, the control unit generates a transmission trigger signal according to a set repetition period. The transmission trigger signal is simultaneously transmitted to the transmission antenna (210) and the signal processor (230) to match the reference time of the transmission time and the reception time.

[0154] In step S230, the transmitting antenna (210) transmits electromagnetic waves into the concrete having a frequency and pulse width set according to the trigger signal. The transmission output is controlled according to a pre-set standard based on the concrete attenuation characteristics.

[0155] In step S240, the receiving antenna (220) receives a reflected signal during a set receiving time window from a reference time synchronized with the transmission trigger. The receiving time window is set to include a section corresponding to the expected depth to the PVC pipe (P).

[0156] In step S250, an analog reflected signal received from the receiving antenna (220) is input to the signal processor (230), and the signal processor (230) amplifies the signal and converts it from analog to digital to store it as digital reflected data.

[0157] In step S260, the signal processor (230) performs primary filtering on the digital reflection data, removes repetitive background components such as surface reflection or equipment-specific reflection, and suppresses low-frequency and high-frequency noise to leave only the effective frequency band.

[0158] In step S270, the concrete damping correction unit (245) corrects the amplitude of the reflected signal, which decreases as the depth increases according to the characteristics of the concrete medium. A greater gain is applied to the signal in the deep region using a damping coefficient or a measurement-based model.

[0159] In step S280, the propagation speed correction unit (240) uses the concrete relative permittivity information provided by the permittivity calculation unit (350) to correct the time axis of the reflection data to match the actual propagation speed.

[0160] In step S290, the interference correction unit (250) identifies a reflection source other than the PVC pipe (P), such as a reinforcing bar or a corner of a structure, from the corrected reflection data, and classifies interference candidate signals based on reflection width, amplitude, periodicity, etc.

[0161] In step S291, the interference correction unit (250) applies a correction filter that removes or attenuates the interference candidate signal classified in step S290 to generate a pipe candidate waveform in which the reflection component of the PVC pipe (P) is emphasized. The generated pipe candidate waveform is transmitted to the data processing unit (400).

[0162] After step S291, the process returns to step S210 and repeats steps S210 through S291 while monitoring changes in the position of the driving device (100), changes in concrete thickness, and signal quality. If necessary, the transmission frequency, pulse repetition period, reception time window, and attenuation correction coefficient are adjusted in real time to optimize the detection performance of the pipe detection module (200).

[0163] The location record control step (S300) consists of control steps for aligning the movement path of the driving device (100) and the detection position of the pipe (P) detected by the pipe detection module (200) with each other and converting them into absolute coordinates in actual space.

[0164] The position recording unit (300) operates by including an inertial measuring device (310), a distance measuring unit (320), a coordinate calculation unit (330), and a signal alignment unit (340).

[0165] In step S310, the inertial measuring device (310) measures the tilt and rotation status of the driving device (100) in real time.

[0166] An inertial measurement device (310) including an acceleration sensor unit, a gyroscope sensor unit, and an optional geomagnetic sensor unit continuously detects changes in tilt, rotation angle, and attitude of the driving device (100) to generate basic attitude information necessary for subsequent coordinate calculations.

[0167] In step S320, the travel distance measuring unit (320) measures the travel distance and travel speed using a wheel encoder linked to the drive wheel of the driving device (100).

[0168] The travel distance measuring unit (320) corrects the travel error caused by road surface inclination or slipping by taking into account the device attitude data detected by the inertial measuring device (310).

[0169] In step S330, the coordinate calculation unit (330) combines the data from the inertial measuring device (310) and the travel distance measuring unit (320) to calculate the accumulated position coordinates of the driving device (100).

[0170] The coordinate calculation unit (330) generates position coordinates based on an absolute coordinate system in actual space by reflecting the instantaneous movement direction, tilt, rotation angle, and amount of movement.

[0171] In step S340, the location coordinates generated by the coordinate calculation unit (330) and the detection time of the reflected signal detected by the pipe detection module (200) are synchronized.

[0172] The detection time of the reflected signal is managed by an internal timestamp of the signal processor (230), and the position coordinates of the coordinate calculation unit (330) are aligned with the same timestamp.

[0173] In step S350, the signal alignment unit (340) converts the relative coordinates where the detection signal of the pipe detection module (200) is located into absolute coordinates. The actual measurement point where the reflected signal occurred is calculated by applying the installation location of the pipe detection module (200) and the device center reference offset.

[0174] In step S360, the signal alignment unit (340) accumulates the absolute coordinates converted in step S350 to generate continuous position data of the pipe (P). The continuous position data serves as basic data that can be used to analyze the path, bends, and depth changes of the pipe (P).

[0175] In step S370, the control unit evaluates the quality of the output coordinate data of the position recording unit (300) and adjusts the parameters of the inertial measuring device (310), the distance measuring unit (320), and the coordinate calculation unit (330) as needed.

[0176] This is intended to minimize positional errors that may occur due to changes in the inclination of the driving device (100), changes in road surface conditions, and fluctuations in movement speed.

[0177] After step S370, the process returns to step S310 and is repeated, continuously performing position alignment of all detection signals generated according to the movement of the driving device (100). The absolute coordinates generated during this process are transmitted to the data processing unit (400) and utilized in the depth, shape, and final mapping process of the pipe (P).

[0178] The data processing unit control step (S400) consists of steps for determining the location, depth, and shape of the PVC pipe (P) and generating a final pipe map using GPR reflection data input from the pipe detection module (200) and absolute coordinate data input from the location recording unit (300).

[0179] The data processing unit (400) includes a signal preprocessing unit (410), a reflection characteristic analysis unit (420), a depth calculation unit (430), a pipe shape reconstruction unit (440), and a pipe data integration unit (450).

[0180] In step S410, the data processing unit (400) collects the pipe candidate reflection waveform transmitted from the pipe detection module (200) and the absolute coordinate data provided by the location recording unit (300). In this step, the time information included in each data is aligned, and the data is synchronized around the same reference time. This synchronization process serves as the basis for accurately matching the spatial location at the moment the reflection signal occurs.

[0181] In step S420, the signal preprocessing unit (410) analyzes the reflected signal data collected in step S410 to remove residual noise, background components, and residual interference. The signal preprocessing unit (410) performs high-frequency and low-frequency filtering, reflection amplitude normalization, etc., to generate a preprocessed signal that clearly highlights the reflection components originating from the PVC pipe (P). This step serves to refine the signal so that the reflection characteristic analysis unit (420) can perform a more accurate analysis.

[0182] In step S430, the reflection characteristic analysis unit (420) analyzes the preprocessed signal to extract the reflection pattern of the PVC pipe (P). The reflection characteristic analysis unit (420) determines whether a shallow V-shaped pattern appears in the PVC pipe (P) based on the arrival time t of the reflected wave, the reflection amplitude, the reflection amplitude, and the shape of the reflected signal. Additionally, it separates additional reflection sources that are not the PVC pipe (P), such as repetitive reflections occurring from reinforcing bars or reflections from the corners of structures, so that only the characteristics corresponding to the actual pipe (P) remain.

[0183] In step S440, the depth calculation unit (430) calculates the depth d of the PVC pipe (P) using the reflection arrival time t detected by the reflection characteristic analysis unit (420) and the propagation speed v provided by the permittivity calculation unit (350). The depth calculation is performed based on the relationship d = t × v / 2, and the propagation speed v is calculated by the relationship v = c / √εr according to the relative permittivity εr of the medium. The calculated depth value represents the actual installation depth of the pipe and serves as the basis for subsequent 3D position determination.

[0184] In step S450, the pipe shape reconstruction unit (440) reconstructs the shape of the PVC pipe (P) by combining the absolute coordinate data provided by the location recording unit (300) with the depth value calculated in step S440. In this step, the pipe shape reconstruction unit (440) generates a centerline of the pipe (P) by connecting consecutive detection locations, determines bends, direction changes, and branches based on the centerline, and estimates the pipe diameter using the reflection width. The reconstructed shape information is generated in the form of spatially continuous data.

[0185] In step S460, the pipe data integration unit (450) integrates depth data, absolute coordinate data, and shape reconstruction data to generate the final path of the PVC pipe (P). During the integration process, coordinate interpolation, noise removal, and data combination of multiple exploration paths are performed to produce a more precise pipe path. The finally generated pipe path becomes high-precision pipe mapping information in which multiple data elements are combined.

[0186] In step S470, the data processing unit (400) stores the shape and location information of the completed pipe (P) or transmits it to an external device. The generated pipe information can be linked with a structure maintenance system, a construction planning system, or a separate monitoring device.

[0187] In step S480, the control unit of the data processing unit (400) evaluates the quality of the input data and updates the filter setting value of the signal preprocessing unit (410), the interference removal criterion value of the interference correction unit (250), and the shape judgment criterion of the pipe shape reconstruction unit (440) according to the situation. Steps S410 through S470 are performed repeatedly according to the movement of the driving device (100), and mapping data of the pipe (P) for the entire investigation section is continuously generated.

[0188] Meanwhile, when mapping a pipe using the ground penetrating radar according to the present embodiment, there is a feature that allows for easier detection of leaks.

[0189] Since PVC is a non-metallic material, it does not reflect as strongly as metal pipes.

[0190] Because there is a difference in dielectric constant between concrete (dielectric constant approximately 6–10) and PVC (dielectric constant approximately 2–3), GPR signals are reflected, and PVC pipes can be detected through the reflected signals. In particular, the detection of PVC pipes embedded in concrete is significantly affected by the humidity and moisture content of the concrete.

[0191] In other words, there is a problem where signal attenuation becomes more severe as the moisture content within the concrete increases, making detection very difficult in high-humidity environments. However, when applied to leak detection, if a leak is detected during the pipe mapping process, it is possible to identify areas of significant signal attenuation in the reflected signal, thereby enabling the identification of the leak area or location.

[0192] The AI-based pipe mapping system according to the present embodiment includes an AI learning unit (600) for performing an artificial intelligence learning function based on reflection signal data, coordinate data, depth data, and pipe shape data acquired from a pipe detection module (200), a location recording unit (300), and a data processing unit (400), and an AI judgment unit (700) for determining the existence, location, shape, and environmental influence of a pipe (P) using a learned model.

[0193] The AI ​​learning unit (600) and the AI ​​judgment unit (700) are added to the existing pipe mapping system, enabling high-accuracy prediction even under various concrete conditions, interference environments, and changes in pipe shape.

[0194] The AI ​​learning unit (600) includes an AI label management unit (610), an AI feature alignment unit (620), and an AI learning module (630), and structures data acquired from the system according to label criteria and converts it into a learning dataset.

[0195] The AI ​​label management unit (610) for reflective signal-based label processing assigns labels for the presence of a pipe, the type of reflection pattern, and the presence of interference to the reflective signal acquired from the pipe detection module (200).

[0196] To this end, the AI ​​label management unit (610) manages the following data.

[0197] (a) Label indicating presence of piping

[0198] It is a binary label to distinguish between pipe presence signals and non-pipe signals.

[0199] This is used as the basic classification criterion for reflection patterns during model training.

[0200] (b) Reflective pattern type label

[0201] This is a label classifying the characteristics of reflection shapes, such as the shallow V-shaped reflection of PVC pipes (P), rebar interference waveform, and structural reflection waveform.

[0202] (c) Interference status label

[0203] Indicates the presence of rebar, plumbing, and multiple reflections.

[0204] The AI ​​learning unit (600) learns an interference correction algorithm based on interference labels. The AI ​​feature alignment unit (620) aligns time series features such as amplitude, reflection amplitude, and reflection arrival time extracted from the reflection signal with the labels and converts them into a learnable input vector.

[0205] The AI ​​learning unit (600) for coordinate-based label processing performs label processing based on pipe center XYZ coordinates, depth, relative position, and absolute position data provided by the location recording unit (300) and the data processing unit (400).

[0206] The AI ​​label management unit (610) manages the following items as coordinate-based labels.

[0207] (a) Pipe center coordinate label Specify the center position of the piping using X, Y, and Z coordinates.

[0208] This is the key label through which the model learns the correlation between reflected signals and coordinate information.

[0209] (b) Depth label

[0210] This is the actual depth d of the pipe (P) calculated by the depth calculation unit (430) of the data processing unit (400).

[0211] This allows the model to learn the relationship between the time axis of the reflection pattern and the actual depth.

[0212] (c) Relative and absolute position labels

[0213] The relative position based on the pipe detection module (200) and the absolute coordinate through the coordinate calculation unit (330) of the position recording unit (300) are designated as labels.

[0214] The AI ​​feature alignment unit (620) aligns the coordinate labels with the time axis of the reflection signal and configures them into a single position prediction dataset so that they can be applied to the AI ​​learning module (630).

[0215] The AI ​​learning unit (600) for shape-based label processing labels the curvature, branching status, diameter, and entire pipe path required for pipe shape reconstruction.

[0216] (a) Curvature label

[0217] Provides numerical values ​​for the rate of change in direction of each section of the pipe (P).

[0218] This value is used by the AI ​​judgment unit (700) to automatically determine the bends of the pipe.

[0219] (b) Branching label

[0220] Distinguish whether the piping is a simple straight type or a branched type such as a T-shape or Y-shape.

[0221] (c) Pipe diameter label

[0222] Record the pipe diameter estimated based on the reflection width as a label.

[0223] (d) Label of the entire piping route

[0224] All XYZ values ​​forming the centerline of the pipe (P) are included, and the AI ​​model is used to predict the overall pipe shape.

[0225] The AI ​​feature alignment unit (620) combines the shape labels with time-series features to convert them into a structure that allows the AI ​​learning module (630) to learn the shape prediction algorithm.

[0226] Environment-based labels are labels used to train the model on the effect of the concrete environment on reflected signals.

[0227] The AI ​​label management unit (610) for environment-based label processing manages the following environment labels.

[0228] (a) Permittivity label

[0229] This is the relative permittivity calculated by the permittivity calculation unit (350).

[0230] (b) Moisture content label

[0231] It is a label that distinguishes the moisture status of the concrete surface or interior.

[0232] (c) Concrete thickness label

[0233] It is the thickness of the slab or wall of the structure.

[0234] (d) SNR Label

[0235] The signal-to-noise ratio of the pipe detection module (200) is provided as a numerical value.

[0236] The AI ​​learning module (630) includes environment labels as input values ​​to generate a pipe judgment model that is robust to environmental changes.

[0237] The AI ​​judgment unit (700) includes an AI inference module (710) and an AI result integration unit (720).

[0238] The AI ​​inference module (710) utilizes a model learned in the AI ​​learning unit (600) to analyze real-time input reflection signals and location data, and performs a comprehensive judgment that considers all reflection signal-based labels, coordinate-based labels, shape-based labels, and environment-based labels.

[0239] The AI ​​inference module (710) is

[0240] (a) Determination of the presence of pipes

[0241] (b) Classification of reflection pattern types

[0242] (c) Pipe Center XYZ Prediction

[0243] (d) Depth prediction

[0244] (e) Determination of curvature and branching and

[0245] (f) Simultaneously predict diameter and shape.

[0246] The AI ​​result integration unit (720) compares the predicted value of the AI ​​inference module (710) with the analysis data generated by the data processing unit (400) and applies the absolute coordinates of the location record unit (300) to generate a mapping result of the final pipe (P).

[0247] The result integration unit (720) calculates the deviation between the AI ​​predicted value and the existing calculated value, and if the deviation exceeds the allowable range, applies a correction algorithm to improve the accuracy of the final pipe location.

[0248] The AI ​​learning unit (600) and AI judgment unit (700) configured as above learn the existence, location, depth, and shape of the pipe (P) based on reflection signal-based labels, coordinate-based labels, shape-based labels, and environment-based labels, and have the characteristic of being able to perform high-accuracy pipe mapping even under various environmental conditions.

[0249] The driving device (100) includes a driving case (120), a driving motor (110) disposed in the driving case (120), a driving wheel (130) driven by the driving motor (110), and a LiDAR (140) disposed in the driving case (120).

[0250] The driving device (100) further includes a bumper (150) which is positioned to surround the outer surface of the driving case (120) and is positioned to be movable relative to the driving case (120) in a horizontal direction, and an ultrasonic sensor (160) which is positioned on the bumper (150).

[0251] In this embodiment, the driving case (120) is formed in a rectangular shape and can move along the wall while positioned opposite the wall of the building.

[0252] The above pipe detection module (200) is positioned on the bottom surface of the driving case (120) and positioned facing the floor.

[0253] The above driving case (120) includes an upper driving case (120a) positioned facing upward and a lower driving case (120b) positioned facing downward. The upper driving case and the lower driving case are assembled to provide a rectangular prism shape.

[0254] In this embodiment, the drive wheel (130) includes a first drive wheel (131) and a second drive wheel (132).

[0255] The above drive motor (110) includes a first drive motor (111) that provides driving force to the first drive wheel (131) and a second drive motor (112) that provides driving force to the second drive wheel (132).

[0256] The driving case (120) includes a first driving wheel opening (125a) that penetrates the lower driving case (120b) in the vertical direction and through which the first driving wheel (131) protrudes downward, and a second driving wheel opening (125b) that penetrates the lower driving case (120b) in the vertical direction and through which the second driving wheel (132) protrudes downward.

[0257] The driving case (120) penetrates the lower driving case (120b) in the vertical direction and further includes a detection module opening (125c) in which the pipe detection module (200) is installed.

[0258] The above-mentioned sensing module opening (125c) is positioned between the first driving wheel opening (125a) and the second driving wheel opening (125b).

[0259] The driving device (100) further includes a guide wheel assembly (180) which is positioned in the lower driving case (120b), positioned between the first driving wheel (131) and the second driving wheel (132), and positioned spaced apart from the rotation axis direction of the first driving wheel (131) and the second driving wheel (132).

[0260] The guide wheel assembly (180) is positioned in front of or behind the pipe detection module (200).

[0261] The guide wheel assembly (180) includes a guide wheel base (181) that is rotatably positioned horizontally with respect to the lower driving case (120b), and a guide wheel (182) that is rotatably assembled to the guide wheel base (181).

[0262] The driving case (120) can be supported at three points through the guide wheel (182), the first driving wheel (131), and the second driving wheel (132) to ensure driving stability.

[0263] The guide wheel (182) is formed with resistance according to the driving direction of the first drive wheel (131) and the second drive wheel (132), and the guide wheel base (181) rotates in place, thereby minimizing the resistance of the guide wheel (182) and ensuring driving stability.

[0264] As the first drive wheel (131) and the second drive wheel (132) are rotated in the forward or reverse direction, the driving case (120) can provide various driving movements such as forward, reverse, turning, and rotation in place.

[0265] The above lidar (140) is positioned to protrude upward from the upper driving case (120a).

[0266] The aforementioned LiDAR is a sensor technology that uses lasers to measure distance and shape information of the surrounding environment at high resolution. The name is an acronym for Light Detection And Ranging.

[0267] The above-mentioned lidar emits a laser pulse and calculates the distance by measuring the time of flight of the reflected signal that hits a surrounding object and returns.

[0268] Lidar (140) has the advantage of being able to measure distances precisely and is relatively less affected by light conditions such as day and night, fog, and backlight. Lidar (140) can reconstruct the shape and contour of an object in 3D and has overwhelmingly higher distance measurement performance compared to a camera.

[0269] The scanning method of the LiDAR (140) is classified into mechanical LiDAR, solid-state LiDAR, and flash LiDAR methods.

[0270] In this embodiment, the LiDAR (140) uses a solid-state LiDAR method.

[0271] The above lidar (140) uses a wavelength of 905 nm.

[0272] In the case of the interior of a building, since GPS coordinates cannot be used, the terrain or the interior of the building scanned through the lidar (140) in this embodiment is used as the absolute coordinates of the location recorder (300).

[0273] The signal detected by the above acceleration sensor unit (311), gyroscope sensor unit (312), and geomagnetic sensor unit (313) is matched with the terrain or building interior generated through the above lidar (140) to match the direction of the absolute coordinates.

[0274] The above lidar (140) is positioned at the center of the plane of the driving case (120).

[0275] The bumper (150) is positioned at each corner of the driving case (120).

[0276] In this embodiment, the bumper (150) includes a first bumper (151), a second bumper (152), a third bumper (153), and a fourth bumper (154).

[0277] Each of the first bumper (151), second bumper (152), third bumper (153), and fourth bumper (154) is positioned at the edge of the driving case (120) and is positioned to move relative to the side of the driving case (120) in a horizontal direction.

[0278] In this embodiment, the first bumper (151) includes a first bumper portion (151a) positioned facing forward and a second bumper portion (151b) that is bent from the first bumper portion (151a) and positioned facing left.

[0279] The second bumper (152) includes a second-1 bumper section (152a) positioned facing forward and a second-2 bumper section (152b) that is bent from the second-1 bumper section (152a) and positioned facing to the right.

[0280] The third bumper (153) includes a third-1 bumper section (153a) positioned facing the rear, and a third-2 bumper section (153b) that is bent from the third-1 bumper section (153a) and positioned facing the left.

[0281] The above-mentioned fourth bumper (154) includes a fourth-1 bumper section (154a) positioned facing forward and a fourth-2 bumper section (154b) that is bent from the fourth-1 bumper section (154a) and positioned facing to the right.

[0282] The first bumper part (151a) and the second bumper part (152a) are spaced apart in the left-right direction, the third bumper part (153a) and the fourth bumper part (154a) are spaced apart in the left-right direction, the first bumper part (151b) and the third bumper part (153b) are spaced apart in the front-back direction, and the second bumper part (152b) and the fourth bumper part (154b) are spaced apart in the front-back direction.

[0283] The first bumper (151) and the driving case (120) form a first bumper gap (121), the second bumper (152) and the driving case (120) form a second bumper gap (122), the third bumper (153) and the driving case (120) form a third bumper gap (123), and the fourth bumper (154) and the driving case (120) form a fourth bumper gap (124).

[0284] The first bumper gap (121) includes a first bumper gap (121a) formed between the first bumper part (151a) and the side of the driving case (120), and a first bumper gap (121b) formed between the first bumper part (151b) and the side of the driving case (120).

[0285] The second bumper gap (122) includes a second-1 bumper gap (122a) formed between the second-1 bumper part (152a) and the side of the driving case (120), and a second-2 bumper gap (122b) formed between the second-2 bumper part (152b) and the side of the driving case (120).

[0286] The third bumper gap (123) includes a third-1 bumper gap (123a) formed between the third-1 bumper part (153a) and the side of the driving case (120), and a third-2 bumper gap (123b) formed between the third-2 bumper part (153b) and the side of the driving case (120).

[0287] The above-mentioned fourth bumper gap (124) includes a fourth-1 bumper gap (124a) formed between the fourth-1 bumper part (154a) and the side of the driving case (120), and a fourth-2 bumper gap (124b) formed between the fourth-2 bumper part (154b) and the side of the driving case (120).

[0288] Through this structure, the first bumper (151), second bumper (152), third bumper (153), and fourth bumper (154) each have the feature of being able to move relative to one another independently.

[0289] A bumper spring (170) that elastically supports the bumper (150) is further disposed between the bumper (150) and the driving case (120).

[0290] The bumper spring (170) comprises a first bumper spring (171) disposed between the first bumper (151) and the driving case (120) to elastically support the first bumper (151), a second bumper spring (172) disposed between the second bumper (152) and the driving case (120) to elastically support the second bumper (152), a third bumper spring (173) disposed between the third bumper (153) and the driving case (120) to elastically support the third bumper (153), and a fourth bumper spring (174) disposed between the fourth bumper (154) and the driving case (120) to elastically support the fourth bumper (154).

[0291] The first bumper spring (171) comprises a first bumper spring (171a) positioned between the first bumper part (151a) and the side of the driving case (120), and a first bumper spring (171b) formed between the first bumper part (151b) and the side of the driving case (120).

[0292] The second bumper spring (172) comprises a second-1 bumper spring (172a) positioned between the second-1 bumper part (152a) and the side of the driving case (120), and a second-2 bumper spring (172b) formed between the second-2 bumper part (152b) and the side of the driving case (120).

[0293] The third bumper spring (173) comprises a third-1 bumper spring (173a) positioned between the third-1 bumper part (153a) and the side of the driving case (120), and a third-2 bumper spring (173b) formed between the third-2 bumper part (153b) and the side of the driving case (120).

[0294] The fourth bumper spring (174) comprises a fourth-1 bumper spring (174a) positioned between the fourth-1 bumper part (154a) and the side of the driving case (120), and a fourth-2 bumper spring (174b) formed between the fourth-2 bumper part (154b) and the side of the driving case (120).

[0295] The first bumper spring (171a) and the first bumper spring (171b) are arranged orthogonally, the second bumper spring (172a) and the second bumper spring (172b) are arranged orthogonally, the third bumper spring (173a) and the third bumper spring (173b) are arranged orthogonally, and the fourth bumper spring (174a) and the fourth bumper spring (174b) are arranged orthogonally.

[0296] The above driving device (100) further includes a spring assembly (190) to which the bumper spring (170) is assembled.

[0297] The above spring assembly (190) includes a bumper housing (191) disposed on the bumper (150), a case housing (192) disposed on the driving case (120), and a spring guide (193) disposed on the bumper housing (191) or the case housing (192) and inserted into the center of the bumper spring (170) to guide the elastic deformation of the bumper spring (170).

[0298] The above bumper spring (170) is a coil spring.

[0299] The bumper housing (191) further includes a bumper housing groove (191a) into which the outer end of the bumper spring (170) is inserted. The case housing (192) further includes a case housing groove (192a) into which the inner end of the bumper spring (170) is inserted.

[0300] The spring guide (193) may be placed in the bumper housing groove (191a) or the case housing groove (192a), and in this embodiment, it is placed in the case housing groove (192a) and extends outward toward the bumper housing groove (191a).

[0301] Since the bumper spring (170) is inserted and positioned in the bumper housing groove (191a) and the case housing groove (192a), it is possible to prevent the bumper (150) from moving out of its installation position during relative movement.

[0302] The bumper spring (170) is fitted into the spring guide (193) and elastically supports the bumper housing (191) and case housing (192).

[0303] The above ultrasonic sensor (160) includes a first ultrasonic sensor (161) disposed on the first bumper (151), a second ultrasonic sensor (162) disposed on the second bumper (152), a third ultrasonic sensor (163) disposed on the third bumper (153), and a fourth ultrasonic sensor (164) disposed on the fourth bumper (154).

[0304] The first ultrasonic sensor (161) includes a first ultrasonic sensor (161a) disposed in the first-1 bumper part (151a) and a first-2 ultrasonic sensor (161b) disposed in the first-2 bumper part (151b).

[0305] The second ultrasonic sensor (162) includes a second-1 ultrasonic sensor (162a) disposed in the second-1 bumper part (152a) and a second-2 ultrasonic sensor (162b) disposed in the second-2 bumper part (152b).

[0306] The third ultrasonic sensor (163) includes a third-1 ultrasonic sensor (163a) disposed in the third-1 bumper part (153a) and a third-2 ultrasonic sensor (163b) disposed in the third-2 bumper part (153b).

[0307] The above-mentioned fourth ultrasonic sensor (164) includes a fourth-1 ultrasonic sensor (164a) disposed in the fourth-1 bumper part (154a) and a fourth-2 ultrasonic sensor (164b) disposed in the fourth-2 bumper part (154b).

[0308] The first-1 bumper spring (171a) and the first-1 ultrasonic sensor (161a) are arranged in a line in the front-rear direction, and the first-2 bumper spring (171b) and the first-2 ultrasonic sensor (161b) are arranged in a line in the left-right direction.

[0309] The above-mentioned second-1 bumper spring (172a) and second-1 ultrasonic sensor (162a) are arranged in a line in the front-rear direction, and the above-mentioned second-2 bumper spring (172b) and second-2 ultrasonic sensor (162b) are arranged in a line in the left-right direction.

[0310] The above 3-1 bumper spring (173a) and 3-1 ultrasonic sensor (163a) are arranged in a line in the front-rear direction, and the above 3-2 bumper spring (173b) and 3-2 ultrasonic sensor (163b) are arranged in a line in the left-right direction.

[0311] The above 4-1 bumper spring (174a) and 4-1 ultrasonic sensor (164a) are arranged in a line in the front-rear direction, and the above 4-2 bumper spring (174b) and 4-2 ultrasonic sensor (164b) are arranged in a line in the left-right direction.

[0312] As described above, since each bumper spring and ultrasonic sensor is arranged in a line, each ultrasonic sensor can be reliably returned to its original position during relative movement of each bumper, and thereby the measurement precision of each ultrasonic sensor can be improved.

[0313] In this embodiment, since the first-1 ultrasonic sensor (161a) and the second-1 ultrasonic sensor (162a) placed on different bumpers are positioned close together and facing the same direction, there is a feature that measurement errors can be easily detected through the first-1 ultrasonic sensor (161a) and the second-1 ultrasonic sensor (162a).

[0314] In addition, since the third-1 ultrasonic sensor (163a) and the fourth-1 ultrasonic sensor (164a) placed on different bumpers are positioned close together and facing the same direction, there is a feature that measurement errors can be easily detected through the third-1 ultrasonic sensor (163a) and the fourth-1 ultrasonic sensor (164a).

[0315] In addition, since the first-2 ultrasonic sensor (161b) and the third-2 ultrasonic sensor (163b) placed on different bumpers are positioned close together and facing the same direction, there is a feature that measurement errors can be easily detected through the first-2 ultrasonic sensor (161b) and the third-2 ultrasonic sensor (163b).

[0316] In addition, since the second-2 ultrasonic sensor (162b) and the fourth-2 ultrasonic sensor (164b) placed on different bumpers are positioned close together and facing the same direction, there is a feature that measurement errors can be easily detected through the second-2 ultrasonic sensor (162b) and the fourth-2 ultrasonic sensor (164b).

[0317] After detecting the wall of the building through the above lidar (140), the driving device (100) is moved to come into contact with any one of the first bumper (151), second bumper (152), third bumper (153), or fourth bumper (154), and in this process, the distance to the wall can be directly measured through the ultrasonic sensors of the bumper adjacent to the contacted bumper.

[0318] For example, with the corner of the first bumper (151) intentionally in contact with the wall, the position of the wall can be determined in absolute coordinates by comparing the measurements detected by the first-1 ultrasonic sensor (161a), first-2 ultrasonic sensor (161b), second-1 ultrasonic sensor (162a), second-2 ultrasonic sensor (162b), third-1 ultrasonic sensor (163a), and third-2 ultrasonic sensor (163b) with the measurements measured through the lidar (140).

[0319] Afterwards, the driving case (120) can be rotated so that the measurement values ​​detected by different ultrasonic sensors are the same, thereby aligning the side of the driving case (120) parallel to the wall.

[0321] Although specific embodiments have been described in the detailed description of the present invention, it is understood that various modifications are possible within the scope of the invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims set forth below as well as equivalents thereof. Explanation of the symbols

[0323] 100 : Driving gear 200 : Pipe detection module 210 : Transmitting antenna 220 : Receiving antenna 230 : Signal processor 240 : Propagation speed correction unit 250 : Interference correction unit 300 : Location Logbook 310 : Observation and measuring device 320 : Distance measuring unit 330 : Coordinate Calculation Unit 340 : Signal alignment unit 350 : Permittivity Calculation Unit 400 : Data processing unit 410 : Signal Preprocessing Unit 420 : Reflection Characteristics Analysis Unit 430 : Depth Calculation Unit 440 : Piping Data Integration Department

Claims

Claim 1 The driving device (100) for driving on the surface or concrete where a pipe is buried, a pipe detection module (200) disposed on the driving device (100) for detecting a pipe buried in the surface or concrete, a dielectric constant calculation unit (350) for determining the dielectric constant of a medium to be penetrated, a position recording unit (300) for overlapping the position of the driving device (100) with the position of the pipe detected by the pipe detection module (200), a data processing unit (400) for processing data detected by the pipe detection module (200), and a power supply unit (500) for providing power to the driving device (100) and the pipe detection module (200), wherein the driving device (100) comprises a driving case (120), a driving motor (110) disposed on the driving case (120), a driving wheel (130) driven by the driving motor (110), and on the driving case (120 The driving device (100) includes a lidar (140) that is positioned, a bumper (150) that is positioned to surround the outer surface of the driving case (120) and is positioned to be movable relative to the driving case (120) in a horizontal direction, and an ultrasonic sensor (160) that is positioned on the bumper (150). The driving device (100) further includes a bumper spring (170) that elastically supports the bumper (150) between the bumper (150) and the driving case (120), and a spring assembly (190) to which the bumper spring (170) is assembled. The spring assembly (190) includes a bumper housing (191) that is positioned on the bumper (150), a case housing (192) that is positioned on the driving case (120), and a bumper housing (191) or a case housing (192) that is positioned on the bumper housing (191) or the case housing (192) and inserted into the center of the bumper spring (170). A pipe mapping system including a spring guide (193) that guides the elastic deformation of a bumper spring (170). Claim 2 A pipe mapping system according to claim 1, wherein the bumper spring (170) is fitted into the spring guide (193) and elastically supports the bumper housing (191) and case housing (192). Claim 3 In claim 2, the pipe detection module (200) comprises a transmitting antenna (210) that transmits radio waves, a receiving antenna (220) that receives a reflected signal of the transmitted radio waves, a signal processor (230) that processes background removal, time domain noise filtering, high-frequency attenuation correction, or reflected signal amplification from the reflected signal, and a radio wave speed correction unit (240) that calculates the radio wave speed in a medium on which the radio waves are projected. Claim 4 In claim 3, the position recording unit (300) comprises an inertial measuring unit (310) that measures the tilt, rotation, and dynamic state of the driving device (100) in real time, a travel distance measuring unit (320) that measures the travel distance of the driving device (100), a coordinate calculation unit (330) that calculates the position coordinates of the driving device, the direction of travel of the driving device, and the rotation value or tilt value at an instantaneous point in time based on the data of the inertial measuring unit (310) and the travel distance measuring unit (320), and a signal alignment unit (340) that overlaps the location of the reflection signal detected by the pipe detection module (200) with the actual coordinates of the driving device (100). Claim 5 In claim 4, the data processing unit (400) comprises a signal preprocessing unit (410) that performs preprocessing for analyzing a reflected signal input from a pipe detection module (200), a reflection characteristic analysis unit (420) that analyzes the arrival time of the reflected signal, determines the presence or absence of a pipe through analysis of reflection amplitude and reflection width, and removes residual interference corrected by an interference correction unit (250), and a depth calculation unit (430) that calculates the depth (d) of the pipe (P) based on the arrival time (t) of the reflected signal detected by the reflection characteristic analysis unit (420) and the propagation speed v calculated by the permittivity calculation unit (350). Claim 6 A pipe mapping system according to claim 5, wherein the data processing unit (400) further comprises a pipe shape reconstruction unit (440) that reconstructs the two-dimensional or three-dimensional shape of the pipe (P) using reflection signals continuously acquired according to the movement of the pipe detection module (200). Claim 7 A pipe mapping system according to claim 6, wherein the data processing unit (400) further comprises a pipe data integration unit (450) that integrates the reflection characteristic analysis result, the depth calculation result, the pipe shape reconstruction result, and the absolute coordinate information of the location recording unit (300) to generate final pipe mapping information. Claim 8 A pipe mapping system according to claim 7, wherein the data processing unit (400) further includes a leak detection module that determines the moisture distribution inside the concrete by analyzing the amplitude attenuation rate of the received reflected signal, and the leak detection module identifies an area where the propagation attenuation in the reflected signal occurs above a preset threshold as a suspected leak section. Claim 9 A pipe mapping system according to claim 7, wherein the pipe data integration unit (450) overlays and aligns the generated final pipe mapping information onto previously stored building drawing data or building interior shape data scanned through LiDAR (140), and generates a pipe map file in which the pipe burial path and depth information are visually displayed. Claim 10 A control method for a pipe mapping system comprises a driving step (S100) of a driving device, a pipe detection module control step (S200) in which, after step S100, GPR signals are emitted and received through a pipe detection module (200) to detect the location of a pipe in a non-destructive manner, a location recording unit control step (S300) in which, after step S200, the location of the driving device and the location of the pipe detected by the pipe detection module (200) are overlapped through a location recording unit (300), and a data processing unit control step (S400) in which, after step S300, a reflected signal input from the pipe detection module (200) is processed through a data processing unit (400) to determine the location and depth of the pipe (P) and to reconstruct the shape of the determined pipe (P). The control step (S200) of the pipe detection module (200) comprises the control unit of the pipe detection module (200) receiving information on the medium to be explored and a target depth range. Step S210, which sets GPR operation parameters such as a transmission frequency band, pulse repetition period, sampling period, and reception time window; Step S220, in which a control unit generates a transmission trigger signal according to the set repetition period, and the transmission trigger signal is simultaneously transmitted to a transmission antenna (210) and a signal processor (230) to match the reference time of transmission time and reception time; and the transmission antenna (210) transmits an electromagnetic wave having a set frequency and pulse width according to the trigger signal into the concrete.Step S230, in which the transmission output is controlled according to a preset standard based on concrete attenuation characteristics; Step S240, in which the receiving antenna (220) receives a reflected signal during a set reception time window from a reference time synchronized with the transmission trigger; Step S250, in which the analog reflected signal received from the receiving antenna (220) is input to a signal processor (230), and the signal processor (230) amplifies the signal and converts it from analog to digital to store it as digital reflected data; Step S260, in which the signal processor (230) performs primary filtering on the digital reflected data, removes repetitive background components such as surface reflection or equipment-specific reflection, and suppresses low-frequency and high-frequency noise to leave only the effective frequency band; Step S270, in which the attenuation correction unit (245) corrects the amplitude of the reflected signal that decreases as the depth increases according to the concrete medium characteristics; and Step S270, in which the propagation velocity correction unit (240) uses concrete relative permittivity information provided by the permittivity calculation unit (350) to correct the time axis of the reflected data to actual A control method for a pipe mapping system comprising: a step S280 of correcting according to the propagation speed; a step S290 in which an interference correction unit (250) identifies a reflection source other than the PVC pipe (P), such as a rebar or a corner of a structure, from the corrected reflection data and classifies interference candidate signals based on reflection width, amplitude, periodicity, etc.; and a step S291 in which the interference correction unit (250) applies a correction filter to remove or attenuate the interference candidate signals classified in step S290 to generate a pipe candidate waveform in which the reflection component of the PVC pipe (P) is emphasized. Claim 11 In claim 10, the position recording unit control step (S300) includes S310, S320, S330, S340, S350, and S360, wherein in step S310, an inertial measuring device (310) measures the tilt and rotation state of the driving device (100) in real time, in step S320, a travel distance measuring unit (320) measures the travel distance and travel speed using a wheel encoder linked to the drive wheel of the driving device (100), in step S330, a coordinate calculation unit (330) calculates the accumulated position coordinates of the driving device (100) by combining the data of the inertial measuring device (310) and the travel distance measuring unit (320), in step S340, synchronizes the position coordinates generated by the coordinate calculation unit (330) with the detection time of the reflected signal detected by the pipe detection module (200), and in step S350, a signal alignment unit (340) A control method for a pipe mapping system in which the relative coordinates where the detection signal of the pipe detection module (200) is located are converted into absolute coordinates. The actual measurement point where the reflected signal is generated is calculated by applying the installation location of the pipe detection module (200) and the device center reference offset, and in step S360, the signal alignment unit (340) accumulates the absolute coordinates converted in step S350 to generate continuous location data of the pipe (P). Claim 12 A control method for a pipe mapping system comprises a driving step (S100) of a driving device, a pipe detection module control step (S200) in which, after step S100, GPR signals are emitted and received through a pipe detection module (200) to detect the location of a pipe in a non-destructive manner, a location recording unit control step (S300) in which, after step S200, the location of the driving device and the location of the pipe detected by the pipe detection module (200) are overlapped through a location recording unit (300), and a data processing unit control step (S400) in which, after step S300, a reflected signal input from the pipe detection module (200) is processed through a data processing unit (400) to determine the location and depth of the pipe (P) and to reconstruct the shape of the determined pipe (P). The control step (S200) of the pipe detection module (200) comprises the control unit of the pipe detection module (200) receiving information on the medium to be explored and a target depth range. Step S210, which sets GPR operation parameters such as a transmission frequency band, pulse repetition period, sampling period, and reception time window; Step S220, in which a control unit generates a transmission trigger signal according to the set repetition period, and the transmission trigger signal is simultaneously transmitted to a transmission antenna (210) and a signal processor (230) to match the reference time of transmission time and reception time; and the transmission antenna (210) transmits an electromagnetic wave having a set frequency and pulse width according to the trigger signal into the concrete. S230 step in which the transmission output is controlled according to a preset standard based on concrete attenuation characteristics; S240 step in which the receiving antenna (220) receives a reflected signal during a set reception time window from a reference time synchronized with the transmission trigger; S250 step in which the analog reflected signal received from the receiving antenna (220) is input to a signal processor (230), and the signal processor (230) amplifies the signal and converts it from analog to digital to store it as digital reflected data; and S250 step in which the signal processor (230) performs primary filtering on the digital reflected data and removes repetitive background components such as surface reflection or equipment-specific reflection.The data processing unit control step (S400) includes S260, which suppresses low-frequency and high-frequency noise to leave only the effective frequency band; S270, in which the attenuation correction unit (245) corrects the amplitude of the reflected signal that decreases as the depth increases according to the characteristics of the concrete medium; S280, in which the propagation speed correction unit (240) corrects the time axis of the reflected data to match the actual propagation speed using concrete relative permittivity information provided by the permittivity calculation unit (350); S290, in which the interference correction unit (250) identifies a reflection source other than the PVC pipe (P), such as rebar or structural corners, from the corrected reflected data and classifies interference candidate signals based on reflection width, amplitude, periodicity, etc.; and S291, in which the interference correction unit (250) applies a correction filter to remove or attenuate the interference candidate signals classified in step S290 to generate a pipe candidate waveform in which the reflection component of the PVC pipe (P) is emphasized. The method includes steps S450 and S460, wherein in step S410, the data processing unit (400) collects the pipe candidate reflection waveform transmitted from the pipe detection module (200) and the absolute coordinate data provided by the location recording unit (300), in step S420, the signal preprocessing unit (410) analyzes the reflection signal data collected in step S410 to remove residual noise, background components, and residual interference, in step S430, the reflection characteristic analysis unit (420) analyzes the preprocessed signal to extract the reflection pattern of the PVC pipe (P), in step S440, the depth calculation unit (430) calculates the depth d of the PVC pipe (P) using the reflection arrival time t detected by the reflection characteristic analysis unit (420) and the propagation speed v provided by the permittivity calculation unit (350), and in step S450, the pipe shape reconstruction unit (440) combines the absolute coordinate data provided by the location recording unit (300) and the depth value calculated in step S440 to... The shape of the pipe (P) is reconstructed, and in step S460, the pipe data integration unit (450) uses depth data,A control method for a pipe mapping system that generates a final path of a PVC pipe (P) by integrating absolute coordinate data and shape reconstruction data.

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